ICE 3015: CONTROL SYSTEM

COMPONENTS

Class 3: Construction, Classification &

Theory of Servo Motors

Dr. S. Meenatchisundaram
Email: meenasundar@gmail.com

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
Construction:

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
Construction:

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Classification:
Servo-motors can be classified as:
• AC Servo-motor
• DC Servo-motor
DC servo-motors can further be classified as
• Separately excited
• Permanent magnet
• AC servo-motors are generally preferred for low-power use.
• For high-power use, DC servo-motors are preferred.
• The rotors are designed with long rotor lengths and smaller
diameters. They have large size than that of conventional motors
of same power ratings.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Theory:
Separately Excited DC Servo Motor:
• Separate DC source for field winding and armature winding.
• The control can be archived either by controlling the field
current or armature current.
• Can be classified as
— Field controlled
— Armature controlled
• Both has advantages and disadvantages as compared to other.
• Type of control is decided by its specific application.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
Field Controlled DC Servo Motor
• The figure below illustrates the schematic diagram for a field
controlled DC servo motor.
• In this arrangement the field of DC motor is excited be the
amplified error signal and armature winding is energized by a
constant current source.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
• The field is controlled below the knee point of magnetizing
saturation curve as shown in the figure below.
• At that portion of the curve the mmf linearly varies with excitation
current.
• That means torque developed in the DC motor is directly
proportional to the field current below the knee point of
magnetizing saturation curve.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
• From general torque equation of DC motor it is found that, torque
T ∝ φIa. Where, φ is field flux and Ia is armature current.
• But in field controlled DC servo motor, the armature is excited by
constant current source, hence Ia is constant here.
• Hence, T ∝ φ
• As field of this DC servo motor is excited by amplified error signal,
the torque of the motor i.e. rotation of the motor can be
controlled by amplified error signal.
• If the constant armature current is large enough then, every little
change in field current causes corresponding change in torque on
the motor shaft.
• The direction of rotation can be changed by changing polarity of
the field.
Control System Components (ICE 3015)
Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
• The direction of rotation can also be altered by using split field DC
motor, where the field winding is divided into two parts, one half of
the winding is wound in clockwise direction and other half in
wound in anticlockwise direction.
• The amplified error signal is fed to the junction point of these two
halves of the field.
• The magnetic field of both halves of the field winding opposes each
other. During operation of the motor, magnetic field strength of
one half dominates other depending upon the value of amplified
error signal fed between these halves.
• Due to this, the DC servo motor rotates in a particular direction
according to the amplified error signal voltage.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
• The main disadvantage of field control DC servo motors, is that the
dynamic response to the error is slower because of longer time
constant of inductive field circuit.
• The field is an electromagnet so it is basically a highly inductive
circuit hence due to sudden change in error signal voltage, the
current through the field will reach to its steady state value after
certain period depending upon the time constant of the field circuit.
• That is why field control DC servo motor arrangement is mainly
used in small servo motor applications.
• The main advantage of using field control scheme is that, as the
motor is controlled by field - the controlling power requirement is
much lower than rated power of the motor.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
Armature Controlled DC Servo Motor Theory
• The figure below shows the schematic diagram for an armature
controlled DC servo motor.
• Here the armature is energized by amplified error signal and field is
excited by a constant current source.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
• The field is operated at well beyond the knee point of magnetizing
saturation curve.
• In this portion of the curve, for huge change in magnetizing
current, there is very small change in mmf in the motor field.
• This makes the servo motor is less sensitive to change in field
current.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
• Actually for armature controlled DC servo motor, we do not want
that, the motor should response to any change of field current.
• Again, at saturation the field flux is maximum. As given earlier, the
general torque equation of DC motor is, torque T ∝ φIa.
• Now if φ is large enough, for every little change in armature current
Ia there will be a prominent changer in motor torque.
• That means servo motor becomes much sensitive to the armature
current.
• As the armature of DC motor is less inductive and more
resistive, time constant of armature winding is small enough.
• This causes quick change of armature current due to sudden
change in armature voltage.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 Servo Motor Theory:
• That is why dynamic response of armature controlled DC servo
motor is much faster than that of field controlled DC servo motor.
• The direction of rotation of the motor can easily be changed by
reversing the polarity of the error signal.
Permanent Magnet DC Servo Motor
• Field control is not possible in the case of permanent magnet DC
motor as the field is a permanent magnet here.
• DC servo motor working principle in that case is similar to that of
armature controlled motor.

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018
 References:
• https://www.electrical4u.com/dc-servo-motors-theory-and-working-
principle/

Control System Components (ICE 3015)

Dr. S.Meenatchisundaram, MIT, Manipal, Aug – Nov 2018